LIDAR AND LIDAR ALIGNMENT METHODS

Abstract

A LiDAR comprising a substrate, a mounting base, an emission lens, a reception lens, a scanner, and a first reflection mirror, wherein the substrate includes a transmitter and a receiver arranged on the same surface of the substrate; wherein the mounting base includes a first optical channel and a second optical channel passing through two ends of the mounting base; wherein the emission lens is arranged in the first optical channel and is configured to collimate the detection beam; wherein the reception lens is arranged in the second optical channel and is configured to shape the echo beam; wherein the scanner is configured to change the angles of the detection beam and echo beam incident on the scanner; wherein the first reflection mirror is configured to change a transmission direction of the detection beam to deflect the detection beam toward the scanner.and changes a transmission direction of the echo beam to deflect the echo beam to the receiving lens.;

Description

CROSS-REFERENCE TO RELATED APPLICATION(S)

[0001] This application claims priority to Chinese Patent Application No. 202211608944.8, filed on December 14, 2022, the contents of which are hereby incorporated by reference in their entirety. TECHNICAL FIELD

[0002] The embodiments of the present disclosure relate to the field of LiDAR technology, particularly LiDARs and LiDAR alignment methods. BACKGROUND

[0003] LiDAR is a sensing sensor that actively detects its surroundings. The LiDAR can emit a detection beam toward an object (e.g., a target), generating an echo beam after the detection beam is diffusely reflected from the object. The LiDAR can generate point cloud data by receiving the reflected echo beam. Relevant information about the object can be determined based on the point cloud data and the time of flight (ToF) of the emitted and received laser beams.

[0004] A rotating mirror LiDAR may include an emission lens module (e.g., an emission lens module includes an emission lens, an emission reflection mirror, an emission lens tube, or the like), a reception lens module (e.g., a reception lens includes a reception lens, a reception reflection mirror, a reception lens tube, or the like), a rotating mirror module, a transmitter module, and a receiver module. The emission lens module and the reception lens module may be non-axisymmetric and complex structural components. The structural components can be integrally machined. Most of the optical positioning surfaces (e.g., a lens positioning surface, a reflection mirror positioning surface, or the like) may be located within the lens tube. The lens tube has a complex structure, and the machining accuracy of the optical positioning surfaces is relatively low.The optical performance may fluctuate. In addition, the emission lens module and the reception lens module have non-axisymmetric structures due to the deflection of the double reflection mirror. The emission lens module and the reception lens module may be difficult to manufacture. The stability of the LiDAR's optical performance may be reduced or unguaranteed. Manufacturing costs may increase, which is not beneficial for mass production. When adjusting the LiDAR by aligning the transmitter and receiver, the position of the transmitter module or receiver module must be adjusted. A movable space may be provided for the transmitter module or receiver module. The transmitter module or receiver module may be in less close contact with the structural components, which may cause poor heat dissipation performance. SUMMARY

[0005] The embodiments of the present disclosure provide LiDARs and LiDAR alignment methods. The structure of the LiDAR can be simplified. The stability of the optical performance can be improved.

[0006] In a first aspect, the present disclosure provides a LiDAR. The LiDAR includes a substrate, a mounting base, an emission lens, a reception lens, a scanner, and a first reflection mirror. The substrate includes a transmitter module and a receiver module arranged on the same surface of the substrate. The transmitter module is configured to emit a detection beam. The receiver module is configured to receive an echo beam generated after the detection beam is reflected by an object. The mounting base includes a first optical channel and a second optical channel. The first optical channel and the second optical channel are isolated from each other. The first optical channel and the second optical channel each extend through a first end and a second end of the mounting base. The substrate is fixedly connected to the first end of the mounting base.The emission lens module is arranged in the first optical channel and assigned to the transmitter module. The emission lens module is designed to collimate the detection beam. The reception lens module is arranged in the second optical channel and assigned to the receiver module. The reception lens module is designed to shape the echo beam. The scanner module is designed to change the angles of the detection beam and the echo beam incident on the scanner module. The first reflection mirror module is arranged at the second end of the mounting base. The first reflection mirror module is designed to change a transmission direction of the detection beam collimated by the emission lens module in order to deflect the detection beam to the scanner module; and to change a transmission direction of the echo beam deflected by the scanner module in order to deflect the echo beam to the reception lens module.

[0007] Optionally, the first reflection mirror module comprises a first mounting bracket, a first partial reflection mirror, and a first receiving reflection mirror. The first mounting bracket is arranged at the second end of the mounting base and includes a hollow channel through which the echo beam passes. The first partial reflection mirror is arranged on a first side of the first mounting bracket and is configured to change the transmission direction of the detection beam collimated by the emission lens modules in order to deflect the detection beam to the scanner module; and to transmit the echo beam to transmit the echo beam to the first receiving reflection mirror. The first receiving reflection mirror is arranged on a second side of the first mounting bracket and is configured to change the transmission direction of the echo beam in order to deflect the echo beam to the receiving lens module. The first side and the second side are opposite sides of the first mounting bracket.

[0008] Optionally, the first reflection mirror module comprises a second mounting bracket, a second partial reflection mirror, a third mounting bracket, and a second receiving reflection mirror. The second mounting bracket is arranged at the second end of the mounting base and includes a first hollow structure through which the detection signal passes. The second partial reflection mirror is arranged at the second end of the mounting base and is configured to change the transmission direction of the detection beam collimated by the emission lens modules in order to deflect the detection beam toward the scanner module; and to transmit the echo beam to transmit the echo beam to the second receiving reflection mirror. The third mounting bracket is arranged at the second end of the mounting base and has a second hollow structure through which the echo beam passes.The second receiving reflection mirror is arranged at an end of the second hollow structure remote from the substrate and is configured to change the transmission direction of the echo beam to deflect the echo beam toward the receiving lens module.

[0009] Optionally, the mounting base further comprises a third end, wherein the first optical channel and the second optical channel simultaneously penetrate the first end, the second end, and the third end of the mounting base.

[0010] The LiDAR further includes a second reflection mirror module located at the third end of the mounting base. The second reflection mirror module is configured to change the transmission direction of the detection beam emitted by the transmitter module to deflect the detection beam toward the emission lens module; and to change the transmission direction of the echo beam formed by the reception lens module to deflect the echo beam toward the receiver module.

[0011] Optionally, the emission lens module and the reception lens module are permanently connected to the second end of the mounting base.

[0012] Optionally, the emission lens module comprises an emission lens and an emission lens tube (emission lens tube, emission lens sleeve). The emission lens is assigned to the transmitter module and is designed to collimate the detection beam. The emission lens tube has an axisymmetric structure and is designed to fix the emission lens. The emission lens tube has a first protrusion structure on an outer circumference of the emission lens tube.

[0013] Optionally, the second end of the mounting base is further provided with a first groove structure circumferentially provided on an inner wall of one end of the first optical channel. The first groove structure cooperates with the first projection structure to position the emission lens tube within the first optical channel.

[0014] Optionally, the receiving lens module comprises a receiving lens and a receiving lens tube (receiving lens tube, receiving lens sleeve). The receiving lens is assigned to the receiver module and is designed to shape the echo beam. The receiving lens tube has an axisymmetric structure and is designed to fix the receiving lens. The receiving lens tube has a second protrusion structure on an outer circumference of the receiving lens tube.

[0015] Optionally, the second end of the mounting base is further provided with a second groove structure located on an inner wall of one end of the second optical channel. The second groove structure cooperates with the second projection structure to position the receiving lens tube within the second optical channel.

[0016] Optionally, a first adjustable gap is provided between the emission lens module and a side wall of the first optical channel; and / or a second adjustable gap is provided between the reception lens module and a side wall of the second optical channel.

[0017] Optionally, a size of the substrate in a surface extension direction is larger than a cross-sectional size of the first end of the mounting base.

[0018] Some embodiments of the present disclosure also provide an alignment method for a LiDAR. The LiDAR includes a substrate, a mounting base, an emission lens module, a reception lens module, a scanner module, and a first reflection mirror module. The substrate includes a transmitter module and a receiver module arranged on the same surface of the substrate. The mounting base includes a first optical channel and a second optical channel. The first optical channel and the second optical channel are isolated from each other. A first adjustable gap is provided between the emission lens module and a sidewall of the first optical channel; and / or a second adjustable gap is provided between the reception lens module and a sidewall of the second optical channel.The alignment method includes a relative position adjustment between the emission lens module and the first optical channel to direct an echo beam to a predetermined position of the receiver module; and / or a relative position adjustment of the reception lens module and the second optical channel to direct the echo beam to the predetermined position of the receiver module.

[0019] Optionally, the LiDAR comprises a substrate, a mounting base, an emission lens module, a sampling module, a reception lens module, and a first reflection mirror module. The substrate comprises a transmitter module and a receiver module arranged on the same surface of the substrate. The mounting base comprises a first optical channel and a second optical channel. The first optical channel and the second optical channel are isolated from each other. The first reflection mirror module comprises a second mounting bracket, a second partial reflection mirror, a third mounting bracket, and a second reception reflection mirror.The alignment method includes: a position and orientation of the second mounting bracket relative to the mounting base and / or a position and orientation of the second partial reflection mirror relative to the second mounting bracket is adjusted to direct an echo beam to a predetermined position of the receiver module; and / or a position and orientation of the third mounting bracket relative to the mounting base and / or a position and orientation of the second receiving reflection mirror relative to the third mounting bracket is adjusted to direct the echo beam to the predetermined position of the receiver module.

[0020] In some embodiments, the transmitter module and the receiver module can be arranged simultaneously on the same surface of the substrate. An integrated design of the receiver module and the transmitter module can be realized. High-precision assembly of the circuit board can ensure or improve the precise positioning of the transmitter module and the receiver module at the specified locations. When aligning the LiDAR by aligning the transmitter and the receiver, the alignment of the transmitter and the receiver can be achieved by adjusting the emission lens module and / or the reception lens module and / or the first reflection mirror module, rather than adjusting the positions of the transmitter module and the receiver module.There is no need to reserve a movable space for the transmitter module and the receiver module. Both the transmitter module and the receiver module can be in direct close contact with the heat dissipation structural component, which is beneficial for heat dissipation. Arranging the transmitter module and the receiver module on the same substrate can not only reduce the number of substrates used, but also reduce the difficulty of designing the heat dissipation structural component and the complexity of the spatial arrangement of the heat dissipation structural component, thereby simplifying the structure of the LiDAR.

[0021] In some embodiments, the emission lens module, the reception lens module, and the first reflection mirror module are separate. The emission lens module, the reception lens module, and the first reflection mirror module can each be integrally assembled by the mounting base. The complex structure of the lens barrel is no longer required. The emission lens module and the reception lens module can be designed to be axisymmetric. This allows the emission lens module and the reception lens module to easily achieve higher machining accuracy through lathe machining or the like. Better and more stable optical performance can be achieved. The first optical channel and the second optical channel of the mounting base can also have an axisymmetric structure, which reduces the processing difficulty of the LiDAR.By separately arranging the emission lens module, the reception lens module, and the reflection mirror module, the alignment of the LiDAR transmitter and receiver can be achieved by adjusting at least one of the modules—namely, the emission lens module, the reception lens module, or the reflection mirror module. The first optical channel and the second optical channel of the mounting base are isolated from each other. Crosstalk between the detection beam and the echo beam can be reduced or eliminated. The stability of the optical performance can be improved.

[0022] In some embodiments, the first reflection mirror module may accommodate the first partial reflection mirror and the second reflection mirror. Optionally, the first reflection mirror module may include the first mounting bracket molded in one piece. Optionally, the first reflection mirror module may include a second mounting bracket and a third mounting bracket configured as separate parts. The optical mounting surfaces of the first partial reflection mirror and the second reflection mirror on one of the structural components of the mounting bracket are provided on the outer sides of the mounting bracket. Compared with the solution in which the optical mounting surfaces are provided inside the lens barrel, high-precision machining is easily achieved. The machining difficulty can thus be reduced.

[0023] In some embodiments, protrusion structures are provided on the outer periphery of the emission lens tube and the reception lens tube. The emission lens tube and the reception lens tube can be easily snapped into the mounting base and positioned. This can facilitate assembly.

[0024] In some embodiments, a first adjustable gap is provided between the emission lens module and the first optical channel; and / or a second adjustable gap is provided between the reception lens module and the second optical channel. The LiDAR can be conveniently mounted and adjusted during the actual installation process. The time required for installation of the LiDAR can be reduced. Alignment of the LiDAR transmitter and receiver can be achieved by adjusting the position of the emission lens module in the first optical channel and / or the position of the reception lens module in the second optical channel.

[0025] In some embodiments, the size of the substrate in a surface extension direction is larger than the cross-sectional size of the end face of the mounting base. The substrate can form a closed environment with the first optical channel and the second optical channel. The detection beam emitted by the transmitter module can be guided to the emission lens module, and the echo beam can be completely guided to the reception lens module. The loss of the detection beam and the echo beam during detection can be reduced. The detection efficiency and accuracy can thus be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] To more clearly describe the technical solutions in some embodiments of the present disclosure, the following introduces the drawings used to describe some embodiments. The drawings described below represent only the embodiments of the present disclosure. Those skilled in the art can also obtain additional drawings based on the provided drawings without creative effort. Fig. 1 shows a schematic diagram illustrating a profile structure of an exemplary LiDAR consistent with some embodiments of the present disclosure. Fig. 2 shows a schematic diagram illustrating an exemplary explosion structure of the exemplary LiDAR of Fig. 1, which is consistent with some embodiments of the present disclosure. Fig. 3 shows a schematic diagram illustrating a profile structure of another example LiDAR consistent with some embodiments of the present disclosure. Fig. 4 shows a schematic diagram showing an exploded structure of the further exemplary LiDAR of Fig. 3, which is consistent with some embodiments of the present disclosure. Fig. 5 is a schematic diagram illustrating a profile structure of another exemplary LiDAR according to some embodiments of the present disclosure. Fig. 6 shows a schematic diagram showing an exploded structure of another exemplary LiDAR from Fig. 5, which is consistent with some embodiments of the present disclosure. Fig. 7 shows a schematic diagram illustrating an example orientation of a LiDAR according to some embodiments of the present disclosure. Fig. 8 shows a schematic diagram illustrating another example orientation of a LiDAR consistent with some embodiments of the present disclosure. DETAILED DESCRIPTION

[0027] As described in the Background section, the transmitter module and the receiver module of an example LiDAR may be arranged separately on different circuit boards. The LiDAR may have a complex structure.

[0028] To solve the above-mentioned technical problem, some embodiments of the present disclosure provide a LiDAR. The transmitter module and the receiver module of the LiDAR can both be arranged on the same surface of the same substrate. An integrated construction of the receiver module and the transmitter module can be realized. Through a high-precision assembly process of the circuit board, it can be improved or ensured that the transmitter module and the receiver module are precisely positioned at predetermined locations. The separate components, including the substrate, the emission lens module, the reception lens module, and the first reflection mirror module, can each be integrally assembled by the mounting base. The emission lens module and the reception lens module can each have an axisymmetric structure.An optical mounting surface in the first reflection mirror module can be located outside a structural component of the first reflection module. The emission lens module, the reception lens module, and the first reflection mirror module can be manufactured through high-precision and low-effort machining. The stability of the LiDAR's optical performance can be improved and the overall cost can be effectively reduced. The emission lens module, the reception lens module, and the first reflection mirror module can be separated. When aligning a receiver and a transmitter, the reflection mirror module, the emission lens module, the reception lens module, and the first reflection mirror module can be adjusted independently to achieve the alignment of the receiver and transmitter. The alignment process is simple, and there is no need to adjust the positions of the transmitter module and the receiver module.It is not necessary to reserve a movable space for the transmitter module and the receiver module, and both the transmitter module and the receiver module are directly and closely mounted on a structural component for heat dissipation, which is beneficial for heat dissipation.

[0029] In order to make the above-mentioned objects, features, and advantages of some embodiments of the present disclosure more apparent and understandable, detailed descriptions of the LiDAR involved in some embodiments of the present disclosure are provided below with reference to some embodiments.

[0030] Referring to Fig. 1-8, in some embodiments of the present disclosure, the LiDAR includes a substrate 110, a mounting base 120, an emission lens module 130, a reception lens module 140, a scanner module 150, and a first reflection mirror module 160 (or a first reflection mirror module 260).

[0031] The substrate 110 may include a transmitter module and a receiver module (not shown in Fig. 1-8) arranged on the same surface of the substrate 110. The transmitter module can emit a detection beam, and the receiver module can receive an echo beam generated after the detection beam is reflected by an object.

[0032] The mounting base 120 includes a first optical channel 121 and a second optical channel 122. The first optical channel 121 and the second optical channel 122 are isolated from each other. The first optical channel 121 and the second optical channel 122 each extend through a first end and a second end of the mounting base 120. The substrate 110 is fixedly connected to the first end of the mounting base 120.

[0033] The emission lens module 130 is arranged in the first optical channel 121 and is associated with the transmitter module. The emission lens module 130 can collimate the detection beam.

[0034] The receiving lens module 140 is arranged in the first optical channel 122 and associated with the receiver module. The receiving lens module 140 can shape the echo beam.

[0035] The scanner module 150 can change the angles of the detection beam and the echo beam that impinge on the scanner module 150.

[0036] The first reflection mirror module 160, 260 can be arranged at the second end of the mounting base 120. The first reflection mirror module can change a transmission direction of the detection beam collimated by the emission lens module 130 to deflect the detection beam to the scanner module 150. The first reflection mirror module can change a transmission direction of the echo beam deflected by the scanner module 150 to deflect the echo beam to the reception lens module 140.

[0037] In some embodiments, during operation of the LiDAR, the transmitter module may emit a detection beam. The detection beam may be collimated by the emission lens module 130. The detection beam may be emitted into the external environment after successive deflection by the first reflection mirror module 160, 260 and the scanner module 150. If the detection beam detects an object, a surface of the object may reflect an echo beam associated with the detection light signal. The echo beam may propagate along a predefined light path. After a first deflection at the scanner module 150, the echo beam may impinge on the first reflection mirror module 160, 260. After a second deflection at the first reflection mirror module 160, 260, the echo beam may impinge on the receiver lens module 140. The receiving lens module 140 can shape the echo beam and deflect the echo beam to the receiver module.A detection process can thus be completed.

[0038] To enable those skilled in the art to better understand and implement the technical solution of some embodiments of the present disclosure, some examples of an exemplary implementation of the LiDAR in some embodiments of the present disclosure are given below.

[0039] In some embodiments, the substrate 110 may comprise a printed circuit board (“PCB”) or the like. Multiple circuits may be integrated into the substrate 110, e.g., driver circuits, power supply circuits, processing circuits, control circuits, or the like. The transmitter module and the receiver module may be arranged on the same surface of the substrate 110. The transmitter module may emit the detection beam from the surface. The receiver module may receive the echo beam on the surface. The transmitter module and the receiver module may be arranged on the same surface of the substrate 110 in various ways, e.g., by mounting a laser chip and a photodetector chip on a circuit board, or by accommodating a laser diode and a photodiode on the circuit board, or the like.

[0040] In some embodiments, one transmitter module and one receiver module may be arranged on the same surface of the substrate 110; or multiple transmitter modules and multiple receiver modules may be arranged on the same surface of the substrate 110. The specific number of transmitter modules and receiver modules is not limited in the embodiments of the present disclosure. It should be noted that the transmitter modules and receiver modules may be in one-to-one correspondence, or one transmitter module may correspond to multiple receiver modules, or multiple transmitter modules may correspond to one receiver module when multiple transmitter modules and multiple receiver modules are arranged on the same surface of the substrate.Some embodiments of the present disclosure do not limit the correspondence between the transmitter module and the receiver module, as long as an echo beam corresponding to a detection beam emitted by a transmitter module can be received by a receiver module corresponding to the transmitter module.

[0041] It should be understood that each module in the embodiments of the present disclosure may comprise, in whole or in part, one or more physical components. For example, a module may be implemented as a processor, a controller, a computer, or any form of hardware components. In some embodiments, depending on the application scenario, the transmitter module may comprise a transmitter, a transmitter circuit, or other hardware components for transmitting. The transmitter may comprise an emitting circuit, a semiconductor laser, a fiber laser, or the like. For example, the transmitter may comprise a vertical cavity surface emitting laser ("VCSEL"), an edge emitting laser ("EEL"), a distributed feedback laser ("DFB"), or the like. In some embodiments, the receiver module may comprise a receiver, a transceiver, a receive circuit, or other hardware components for receiving.The receiver module may be implemented, for example, by a processor and a receiving computer program. The receiver may include a receiving circuit, an avalanche photodiode ("APD"), a silicon photomultiplier ("SIPM"), a single-photon avalanche diode ("SPAD"), or the like. The types and numbers of the transmitter module and the receiver module are not limited in some embodiments of the present disclosure.

[0042] Throughout this disclosure, the terms "a," "an," and "the" are intended to represent singular or plural forms, unless the context expressly indicates otherwise. For example, "a transceiver" may refer to a single transceiver or a plurality of transceivers, unless the context expressly indicates otherwise.

[0043] In some embodiments, the mounting base 120 includes the first optical channel 121 and the second optical channel 122. The first optical channel 121 and the second optical channel 122 penetrate the first end and the second end of the mounting base 120. The substrate 110 is fixedly connected to the first end of the mounting base 120. The emission lens module 130 and the reception lens module 140 are fixedly connected to the second end of the mounting base 120.

[0044] The first end and the second end of the mounting base 120 are opposite each other. The first optical channel 121 and the second optical channel 122 penetrate the first end and the second end of the mounting base 120. The mounting base has a structure with open ends on both sides (e.g., the first end and the second end of the mounting base 120). The first end and the second end of the mounting base 120 can form mounting surfaces for mounting with other modules. The mounting surface is completely open and presents a flat end surface, making it easy to machine the mounting surface with high precision. It is not necessary to install an optical device inside the mounting base 120. The first optical channel 121 and the second optical channel 122 inside the mounting base 120 can provide spaces for the passage of rays. The interior of the mounting base 120 does not require high-precision machining.The overall processing costs of the mounting base 120 can therefore be lower.

[0045] The first end of the mounting base 120 serves to firmly connect the substrate 110. The second end of the mounting base 120 serves to firmly connect the emission lens module and the reception lens module. The transmitter module and the emission lens module each correspond to two ends of the first optical channel 121. The receiver module and the reception lens module each correspond to two ends of the second optical channel 122.

[0046] A cross-sectional shape of the first optical channel 121 and the second optical channel 122 may include one or more of triangles, hexagons, rhombuses, circles, ellipses, rectangles, or the like. The cross-sectional shape is not limited in some embodiments of the present disclosure, as long as the cross-sectional shapes of the first optical channel 121 and the second optical channel 122 can be compatible with the shapes of the emission lens module and the reception lens module.

[0047] The first optical channel 121 and the second optical channel 122 are isolated from each other to separate a light path of the detection beam from a light path of the echo beam. This effectively prevents the detection beam from directly entering the receiver module of the LiDAR. A light-shielding plate on the mounting base 120, which serves to isolate the first optical channel 121 from the second optical channel 122, can be integrally processed with the mounting base 120. The first optical channel 121 and the second optical channel 122 can be processed separately. Alternatively, a large optical channel can be processed within the mounting base 120, and then the large optical channel can be divided into the first optical channel 121 and the second optical channel 122 by disposing the light-shielding plate in a central region.

[0048] In some embodiments, further referring to Fig. 1 and Fig. 2, the first end of the mounting base 120 is substantially parallel to the second end of the mounting base 120. A surface of the substrate 110 on which the transmitter module and the receiver module are mounted is firmly connected to the first end of the mounting base 120. The detection beam emitted by the transmitter module can directly enter the emission lens module without being deflected. The echo beam formed by the reception lens module can directly enter the receiver module without being deflected. A mounting hole is provided at the first end of the mounting base 120, and a mounting hole is provided at the corresponding position of the substrate 110. The substrate 110 can be securely connected to the mounting base 120. The substrate 110 can be directly attached to the mounting base 120 by screws, adhesive, or the like.

[0049] In some embodiments, for example, referring to Fig. 3 and Fig. 4, the first end of the mounting base 120 is substantially perpendicular to the second end. The mounting base 120 also has a third end. Both the first optical channel 121 and the second optical channel 122 penetrate the first end, the second end, and the third end of the mounting base 120. There is an angle between the plane in which the third end is located and the plane in which the second end is located. There is an angle between the plane in which the third end is located and the plane in which the first end is located. The third end is inclined to an outer side wall of the mounting base 120. The third end is connected to the first end and is opposite the second end. The LiDAR L3 further includes a second reflection mirror module 180. The second reflection mirror module 180 is mounted on the third end of the mounting base 120.The detection beam emitted by the transmitter module can be deflected by the second reflection mirror module 180 before it strikes the emission lens module; and the echo beam formed by the reception lens module can be deflected by the second reflection mirror module 180 before it strikes the receiver module.

[0050] For example, referring to Fig. 4, from a current perspective in Fig. 4, the second end is located at a front side of the mounting base 120 near the emission lens module 130 and the reception lens module 140 (along an inward direction of the paper). The third end is located at a rear side of the mounting base 120 near the second reflection mirror module 180 (along an outward direction of the paper). The first end is located at a bottom side of the mounting base 220 near the substrate 110 (along a downward direction of the paper). For example, the substrate 110 is mounted at the bottom side of the mounting base 120.

[0051] Further referring to Fig. 4, two half-open through holes C1 and C2 are provided at the first end of the mounting base 130. The detection beam emitted by the transmitter module can be guided through the through hole C1 to the second reflection mirror module 180. The echo beam deflected by the second reflection mirror module 180 can be guided through the through hole C2 to the receiver module.

[0052] In some embodiments, referring to Fig. 1 and Fig. 2, the size of the substrate 110 may be compatible with a size of the first end. In the LiDAR having a structure, referring to Fig. 3 and Fig. 4, the size of the substrate 110 is compatible with the size of the bottom of the mounting base 120. The substrate can be designed in a larger format. The LiDAR's main board can also be integrated on the substrate 110.

[0053] In some embodiments, the size of the substrate 110 in a direction of extent of the surface of the substrate 110 on which the transmitter module and the receiver module are mounted may be larger than the cross-sectional size of the first end of the mounting base 120. The light path on the substrate 110 may be completely enclosed. Less or no stray light may be emitted by the receiver module. The signal-to-noise ratio during detection may be improved or ensured.

[0054] In some embodiments, the emission lens module 130 and the reception lens module 140 each represent separate structural components and may each be axially symmetric.

[0055] The emission lens module 130 includes an emission lens 131 and an emission lens tube 132. The emission lens 131 can correspond to the transmitter module and can be used to collimate the detection beam. The emission lens tube 132 has an axisymmetric structure and can be used to attach the emission lens. A first protrusion structure 1321 is provided on the outer circumference of the emission lens tube.

[0056] In some embodiments, for example, referring to Fig. 1-6, the emission lens 131 is arranged inside the emission lens tube 132. A cross-sectional shape of the emission lens tube 132 is compatible with the shape of the emission lens 131. The method for manufacturing axisymmetric optical lenses is mature, and the axisymmetric optical lenses are widely used. The emission lens tube 132 has an axisymmetric structure. When machining the optical mounting surface inside the emission lens tube 132, the axisymmetric structure can be obtained by turning processes to improve or ensure machining accuracy. A radial length of the emission lens tube 132 can be small because the emission lens tube 132 only needs to accommodate one emission lens group. This can create more working space when machining the interior of the emission lens tube 132.

[0057] The outer periphery of the emission lens tube 132 is provided with a first protrusion structure 1321. The emission lens module 130 can be connected and positioned to the mounting base 120 via the first protrusion structure 1321.

[0058] In an optional example, referring to Fig. 1 and Fig. 2, the first protrusion structure 1321 is snapped into the second end of the mounting base 120. For example, the first protrusion structure 1321 is snapped directly into an upper position of the first optical channel 121. Part of the structure of the emission lens module 230 is located within the first optical channel 121, while another part of the structure is located outside the first optical channel 121.

[0059] In an optional example, referring to Fig. 5 and Fig. 6, the mounting base 120 further includes a first groove structure 123 arranged circumferentially on an inner wall of the end of the first optical channel 121. Through the cooperation of the first groove structure 123 and the first protrusion structure 121, the emission lens tube 132 is positioned on the first light channel 121.

[0060] For example, referring to Fig. 1-6, the receiving lens module 140 may include a receiving lens 141 and a receiving lens tube 142. The receiving lens 141 is arranged inside the receiving lens tube 142. The receiving lens module 140, the receiving lens 141, and the receiving lens tube 142 may be formed as an axisymmetric structure. A second protrusion structure 1421 is provided on the outer periphery of the receiving lens tube 142. The receiving lens module 140 is connected and positioned to the mounting base 120 via the second protrusion structure 1421.

[0061] In an optional example, referring to Fig. 1, the mounting base 120 further includes a second groove structure 124 disposed on an inner wall of the end of the second optical channel 122. Through the interaction of the second protrusion structure 1421 and the second groove structure 124, the receiving lens tube 142 is positioned on the second optical channel 122.

[0062] For example, the second protrusion structure 1421 is associated with the second groove structure 124 on an outer periphery of the receiving lens tube 142. By combining the second protrusion structure 1421 with the second groove structure 124, the receiving lens module 140 is fixedly arranged at one end of the second optical channel 122.

[0063] In some embodiments, the first protrusion structure 1321 is provided on the outer periphery of the emission lens module 130, and the second protrusion structure 1421 is provided on the outer periphery of the reception lens module 140. This allows the emission lens module 130 and the reception lens module 140 to be easily snapped into place and positioned on the mounting base 120 during the LiDAR assembly process without significant assembly errors. The labor required for the alignment process can be reduced.

[0064] The first protrusion structure 1321 is arranged circumferentially in a central region on an outer side of the emission lens module 130. The second protrusion structure 1421 is arranged in a central region on an outer side of the reception lens module 140. After the emission lens module 130 is mounted to the mounting base 120, a part of a structure of the emission lens module 130 is located within an optical channel, and another part of the structure of the emission lens module 130 is located outside the optical channel. After the reception lens module 140 is mounted to the mounting base 120, a part of a structure of the reception lens module 140 is located within an optical channel, and another part of the structure of the reception lens module 140 is located outside the optical channel. The overall volume of the LiDAR can be reduced.The first protrusion structure 1321 circumferentially arranged in the central region can achieve the engagement between the emission lens module 130 and the mounting base 120; and the second protrusion structure 1421 circumferentially arranged in the central region can achieve the engagement between the reception lens module 140 and the mounting base 120. This engagement method can be more stable and less susceptible to lateral deviations and tilts compared to the method in which the ends of the emission lens module 130 and the reception lens module 140 are connected to the mounting base 120. The stability of the overall performance during long-term use of the LiDAR can be improved or ensured.

[0065] In some embodiments, based on the example structure of the mounting base 120, different mounting styles may be used for the mounting base 120, the emission lens module 130, and the reception lens module 140. In some embodiments, the structure of the mounting base may be modified to firmly position the emission lens module 130 within the first optical channel 121 and the reception lens module 140 within the second optical channel 122. In some embodiments, the structure of the mounting base may be modified to firmly position the emission lens module 130 outside the first optical channel 121 and the reception lens module 140 outside the second optical channel 122.

[0066] Based on the simplified LiDAR, in order to increase the accuracy of the detection results of the LiDAR, it is preferable to adjust the positions of some modules (e.g., the emission lens module 130, the reception lens module 140, the substrate 110, the first reflection mirror module 160, 260, the second reflection mirror module 180, or the like) of the LiDAR in an installation process to achieve the alignment of the transmitter and receiver of the LiDAR.

[0067] In some embodiments, the emission lens module 130 and the reception lens module 140 are separated from the mounting base 120. A first adjustable gap may be provided between the emission lens module 130 and a sidewall of the first optical channel 121; and a second adjustable gap may be provided between the reception lens module 140 and a sidewall of the second optical channel 122.

[0068] In some embodiments, the substrate 110 can be attached directly to the mounting base 120 during assembly of the LiDAR. The first adjustable gap allows the emission lens module 130 to be moved on a plane perpendicular to an optical axis to adjust a relative position between the emission lens module 130 and the first optical channel 121. The echo beam can be directed to a predetermined position on the receiver module. Optionally, the second adjustable gap allows the reception lens module 140 to be moved on the plane perpendicular to the optical axis to adjust a relative position between the reception lens module 140 and the second optical channel 122. The echo beam can be directed to a predetermined position on the receiver module.Optionally, the relative position between the emission lens module 130 and the first optical channel 121 and the relative position between the reception lens module 140 and the second optical channel 122 can be adjusted simultaneously to allow the echo beam to be directed to the predetermined position of the receiver module. By adjusting the emission lens module 130 and / or the reception lens module 140, the alignment of the LiDAR transmitter and receiver can be achieved.

[0069] In some embodiments, the LiDAR further includes a first reflection mirror module 160, 260. The first reflection mirror module 160, 260 is arranged at the second end of the mounting base 120. The first reflection mirror module 160, 260 serves to change the transmission direction of the detection beam collimated by the emission lens module 130 in order to deflect the detection beam to the scanner module 150; and to change the transmission direction of the echo beam deflected by the scanner module 150 in order to deflect the echo beam to the reception lens module 140.

[0070] In some embodiments, the first reflection mirror module 160, 260 may be separated from the mounting base 120, the emission lens module 130, and the reception lens module 140. The structure of the first reflection mirror module 160, 260 can be flexibly designed and adapted.

[0071] In some embodiments, further referring to Fig. 1 and Fig. 2, the first reflection mirror module 160 comprises a first mounting bracket 161, a first partial reflection mirror 162 and a first receiving reflection mirror 163.

[0072] The first mounting bracket 161 is arranged at the second end of the mounting base 120 and may have a hollow channel A, wherein the hollow channel A may allow the passage of the echo beam.

[0073] The first partial reflection mirror 162 is arranged on a first side of the first mounting bracket 161 and can change the transmission direction of the detection beam collimated by the emission lens module 130 to deflect the detection beam to the scanner module 150. The first partial reflection mirror 162 can transmit the echo beam to guide the echo beam to the first reception reflection mirror 163.

[0074] The first receiving reflection mirror 163 is arranged on a second side of the first mounting bracket 161 and can change the transmission direction of the echo beam to deflect the echo beam to the receiving lens module 140.

[0075] The first side of the first mounting bracket 161 and the second side of the first mounting bracket 161 are opposite sides of the first mounting bracket 161.

[0076] In some embodiments, the detection beam emitted by the transmitter module may be collimated by the emission lens module 130 and directed onto the first partial reflection mirror 162. The first partial reflection mirror 162 may change the transmission direction of the detection beam so that the detection beam can be directed to the scanner module 150. The scanner module 150 may change the transmission direction of the detection beam again, and the detection beam may be directed to the exterior of the LiDAR.

[0077] When the detection beam detects an object, the detection beam can be reflected by the surface of the object to generate the echo beam corresponding to the detection beam. The echo beam can be redirected along a detection beam transmission path back to the scanner module 150. The scanner module 150 can change the transmission direction of the echo beam. The first side and the second side are two opposite sides of the first mounting bracket 161, whereby the echo beam can be transmitted to the first partial reflection mirror 162 and, after passing through the first partial reflection mirror 162, reach the first receiving reflection mirror 163. The first receiving reflection mirror 163 can change the transmission direction of the echo beam, and the echo beam can be transmitted to the receiving lens module 140.After the echo beam has been formed by the receiving lens module 140, the echo beam can be transmitted to the corresponding receiver module. A detection process can be completed.

[0078] The first reflection mirror module 160 may use an integrated first mounting bracket 161. The first partial reflection mirror 162 and the first receiving reflection mirror 163 may be mounted on the opposite first and second sides of the first mounting bracket 161. The space utilization of the first mounting bracket can be improved and the number of structural components can thus be reduced. Furthermore, the accuracy of the relative position between the first partial reflection mirror 162 and the first receiving reflection mirror 163 can be improved or ensured. The first side for supporting the first partial reflection mirror 162 and the second side for supporting the first receiving reflection mirror 163, as well as a side of the first mounting bracket 161 associated with the mounting base 120, can be used as mounting surfaces. The mounting surfaces must be machined with high precision.The three mounting surfaces are completely open planes, and therefore, high-precision machining can be easily achieved. The first mounting bracket 161 may have a hollow channel inside, the hollow channel having three ends connected to the outside, namely the first side, the second side, and the side of the first mounting bracket 161 associated with the mounting base 120. The hollow channel serves only to provide a passage space for a light beam, without any optical mounting surfaces being arranged inside, which facilitates high-precision machining of the hollow channel.

[0079] In some embodiments, various methods may be used to securely mount the first mounting bracket to the mounting base.

[0080] For example, referring to Fig. 2, the mounting holes K1 and K2 are provided at one end of the first mounting bracket 161 near the mounting base 120, wherein the mounting base 120 is also provided with mounting holes (not in Fig. 2) corresponding to the mounting holes K1 and K2. The first mounting bracket 161 and the mounting base 120 can be connected by aligning the mounting holes K1 and K2 of the first mounting bracket 161 with the mounting holes of the mounting base 120 by means of a positioning module (e.g., in Fig. 2 shown positioning pins 171 and 172 or similar).

[0081] It is understood that the number and distribution of the above-mentioned mounting holes (e.g., the mounting holes of the first mounting bracket 161, the mounting holes of the mounting base 120) are examples. In some embodiments, the number and positions of the mounting holes can be flexibly determined according to actual needs, and some embodiments of the present disclosure are not limited in this regard. It is also understood that the mounting base 120 can be firmly connected to the substrate 110 using a mounting hole and a positioning pin.

[0082] In some embodiments, the first mounting bracket 161 and the mounting base 120 may be connected using other connection methods, such as fasteners, adhesives, or the like. Some embodiments of the present disclosure do not impose any limitations on the exemplary connection method.

[0083] In some embodiments, the first partial reflection mirror 162 may be fixedly mounted to the first side of the first mounting bracket 161 using fasteners, adhesives, or the like. When connected by adhesive, the first mounting bracket 161 may have an adhesive injection port located on the first side. In some embodiments, the first partial reflection mirror 162 may comprise a planar reflection mirror, a cylindrical reflection mirror, a reflection mirror with non-spherical curvature, or the like. In some embodiments, the first partial reflection mirror 162 may comprise a pinhole reflector, a partially transmissive and partially reflective mirror, a polarized beam splitter ("PBS"), a beam splitter, or the like.

[0084] The first receiving reflection mirror can be fixedly mounted to the second side of the first bracket using fasteners or adhesives or the like. When connected by adhesive, the first mounting bracket can have an injection port for adhesives located on the second side, and the first receiving reflection mirror can comprise at least one of the following: a planar reflection mirror, a cylindrical reflection mirror, or a reflection mirror with non-spherical curvature.

[0085] It should be understood that the structure of the first reflection mirror module in the above embodiments is only an example. In some embodiments, the first reflection mirror module can be modified or expanded to obtain various different structures of the first reflection mirror module. The specific shape of the first reflection mirror module is not limited in some embodiments of the present disclosure, as long as the first reflection mirror module can be firmly mounted to the mounting base.

[0086] For example, as in Fig. 1 and Fig. 2, the first mounting bracket 161 in the first reflection mirror module 160 has an integrally formed structure, and the first partial reflection mirror 162 and the first reception reflection mirror 163 are arranged on the first side and the second side of the first mounting bracket 161, respectively.

[0087] In some embodiments, the first reflection mirror module may include multiple mounting brackets, and the emission lens module and the reception lens module may be arranged on different mounting brackets.

[0088] Fig. 5 is a schematic diagram illustrating a profile structure of another exemplary LiDAR according to some embodiments of the present disclosure. Fig. 6 shows a schematic diagram showing an exploded structure of another exemplary LiDAR from Fig. 5, which is consistent with some embodiments of the present disclosure. Referring to Fig. 5 and Fig. 6, there is a difference between a Fig. 5 and Fig. 6 and the described LiDAR L1 in that a second partial reflection mirror 262 and a second receiving reflection mirror 264 of the LiDAR L2 shown in Fig. 5 and Fig. 6 shown LiDAR L2 are arranged on different mounting brackets.

[0089] For example, referring to Fig. 5 and Fig. 6, the first reflection mirror module 260 comprises a second mounting bracket 261, the second partial reflection mirror 262, a third mounting bracket 263 and the second receiving reflection mirror 264.

[0090] Fig. 7 shows a schematic diagram illustrating an example orientation of a LiDAR according to some embodiments of the present disclosure. Referring to Fig. 7, the second mounting bracket 261 is arranged at the second end of the mounting base 120 and has a first hollow structure A1. The first hollow structure A1 can be used to transmit the detection beam.

[0091] Further referring to Fig. 7, the second partial reflection mirror 262 is arranged at one end of the first hollow structure A1, away from the substrate 110. The second partial reflection mirror 262 can be used to change the transmission direction of the detection beam collimated by the emission lens module 130, to deflect the detection beam toward the scanner module 150, and to transmit the echo beam and transmit it to the second reception reflection mirror 264.

[0092] Further referring to Fig. 7, the third mounting bracket 263 is arranged at the second end of the mounting base 120 and has a second hollow structure A2. The second hollow structure A2 can be used to transmit the echo beam.

[0093] Further referring to Fig. 7, the second receiving reflection mirror 264 is arranged at one end of the second hollow structure A2 remote from the substrate 110 and can be used to change the transmission direction of the echo beam and deflect it to the receiving lens module 140.

[0094] Fig. Figure 8 shows a schematic diagram illustrating another exemplary orientation of a LiDAR according to some embodiments of the present disclosure. It is understood that the second mounting bracket 261 and the third mounting bracket 263 may have different structural designs, such as the integrated structure (e.g., the one shown in Fig. 6 shown integrated structure) or separate structure (e.g. the one shown in Fig. 8). The present disclosure does not impose any limitation on specific structures of the second mounting bracket 261 and the third mounting bracket 263.

[0095] In some embodiments, the detection beam, after being emitted by the transmitter module and collimated by the emission lens module 130, can impinge on the second partial reflection mirror 262 through the first hollow structure. The second partial reflection mirror 262 can change the transmission direction of the detection beam. The detection beam can be transmitted to the scanner module 150. The scanner module 150 can change the transmission direction of the detection beam again, and the detection beam can be transmitted outward.

[0096] When the detection beam detects an object, the detection beam is reflected from the surface of the object, and the echo beam corresponding to the detection beam is generated. The echo beam can be returned to the scanner module 150 along the detection beam transmission path. The scanner module 150 can change the transmission direction of the echo beam. The echo beam can be transmitted to the second partial reflection mirror 262 and, after passing through the second partial reflection mirror 262, impinge on the second receiving reflection mirror 264. The second receiving reflection mirror 264 can change a transmission direction of the echo beam, and the echo beam can be transmitted through the second hollow structure A2 to the receiving lens module 140. After the echo beam is shaped by the receiving lens module 140, the echo beam can be transmitted to the corresponding receiving module. A detection process can be completed.

[0097] Based on the first reflection mirror module with the above-mentioned structure (e.g. the one in Fig. 5 and Fig. 6), the second partial reflection mirror and the second receiving reflection mirror can be mounted using two separate mounting brackets, wherein the mounting bracket can have a flexible and concise structural design. The first hollow structure A1 and the second hollow structure A2 can be processed more easily. The size of each mounting bracket can also be made smaller, allowing for a larger operating space for adjusting the positions of the emission lens module 130 and the reception lens module 140.

[0098] The second partial reflection mirror 262 can be arranged on the second mounting bracket 261, and the second receiving reflection mirror 264 can be arranged on the third mounting bracket 263. A position and orientation of the second mounting bracket 261 relative to the mounting base 120 and / or a position and orientation of the second partial reflection mirror 262 relative to the second mounting bracket 261 can be adjusted to direct the echo beam to a predetermined position of the receiver module; and / or a position and orientation of the third mounting bracket 263 relative to the mounting base 120 and / or a position and orientation of the second receiving reflection mirror 264 relative to the third mounting bracket 263 can be adjusted to direct the echo beam to the predetermined position of the receiver module. The alignment of the transmitter and receiver of the LiDAR can be achieved.On the other hand, the positions of the second partial reflection mirror 262 and the second receiving reflection mirror 264 can be flexibly arranged. This allows the LiDAR to adapt to various detection scenarios and exhibit greater flexibility and universality.

[0099] The present disclosure also provides an alignment method for a LiDAR, which is explained below with reference to some examples.

[0100] In some embodiments, the LiDAR may include a substrate 110, a mounting base 120, an emission lens module 130, a reception lens module 140, a scanner module 150, and a first reflection mirror module 160, 260. The substrate 110 may include a transmitter module and a receiver module arranged on the same surface of the substrate 110. The mounting base 120 may have a first optical channel 121 and a second optical channel 122. The first optical channel 121 and the second optical channel 122 are isolated from each other. For the exemplary structure and operating principle of the LiDAR, reference may be made to the previous examples, such as those shown in Fig. LiDAR L1, L2, L3 shown in Figures 1-8, which are not repeated here.

[0101] In some embodiments, a first adjustable gap may be disposed between the emission lens module 130 and a sidewall of the first optical channel 121; and / or a second adjustable gap may be disposed between the reception lens module 140 and a sidewall of the second optical channel 122. The alignment method may include a relative position adjustment between the emission lens module 130 and the first optical channel 121 to direct an echo beam to a predetermined position of the reception module; and / or a relative position adjustment between the reception lens module 140 and the second optical channel 122 to direct the echo beam to the predetermined position of the reception module.

[0102] In some embodiments, different alignment methods may align the LiDAR based on the structure of the LiDAR.

[0103] For example, a first alignment method may include: the substrate 110 and the first reflection mirror module 160, 260 are each fixedly mounted to the mounting base 120. The receiving lens module 140 is fixedly mounted within the second optical channel 122 of the mounting base 120. The emitting lens module 130 is initially snapped onto the second end of the mounting base 120 to position the emitting lens module 130 within the first optical channel 121. A first adjustable gap is located between the emitting lens module 130 and the first optical channel 121. The emitting module can be controlled to emit a detection beam. It can be monitored whether the echo beam corresponding to the detection beam is directed to the predetermined position of the receiving module. The predetermined position can be a location of a detector corresponding to a laser of a channel.If it is monitored that the echo beam is directed to the predetermined position of the receiver module, the emission lens module 130 can be fixedly mounted on the second end of the mounting base 120. If it is monitored that the echo beam is not directed to the predetermined position of the receiver module, the relative position between the emission lens module 130 and the first optical channel 121 can be adjusted until it is monitored that the echo beam is directed to the predetermined position of the receiver module.

[0104] As another example, a second alignment method may include: the substrate 110 and the first reflection mirror module 160, 260 are each fixedly mounted to the mounting base 120. The emission lens module 130 is fixedly mounted within the first optical channel 121 of the mounting base. The reception lens module 140 is initially snapped onto the second end of the mounting base 120 to position the reception lens module 140 within the second optical channel 122. A second adjustable gap is located between the reception lens module 140 and the second optical channel 122. The transmitter module can be controlled to emit a detection beam. It can be monitored whether the echo beam corresponding to the detection beam is directed to the predetermined position of the receiver module.If it is monitored that the echo beam is directed to the specified position of the receiver module, the receiving lens module 140 can be fixedly mounted to the second optical channel 122 of the mounting base. If it is monitored that the echo beam is not directed to the specified position of the receiver module, the relative position between the receiving lens module 140 and the second optical channel 122 can be adjusted until it is monitored that the echo beam is directed to the specified position of the receiver module.

[0105] As yet another example, a third alignment method may include simultaneously adjusting the relative position between the emission lens module 130 and the first optical channel 121 and the relative position between the reception lens module 140 and the second optical channel 122. By way of example, the third alignment method may include steps or operations similar to the steps or operations of the first alignment method or the second alignment method described herein. Some embodiments of the present disclosure provide additional alignment methods for the LiDAR. Some examples are described below in conjunction with the accompanying drawings.

[0106] In some embodiments, the LiDAR may include a substrate 110, a mounting base 120, an emission lens module 130, a reception lens module 140, a scanner module 150, and a first reflection mirror module 260. The substrate 110 may include a transmitter module and a receiver module arranged on the same surface of the substrate 110. The mounting base 120 may have a first optical channel 121 and a second optical channel 122. The first optical channel 121 and the second optical channel 122 are isolated from each other. The first reflection mirror module 260 may include a second mounting bracket 261, a second partial reflection mirror 262, a third mounting bracket 263, and a second reception reflection mirror 264. For the specific structure and operating principle of the LiDAR, reference can be made to the previous examples, such as the one shown in Fig. LiDAR L2 shown in Figures 5-8, which are not repeated here.

[0107] The alignment method may include: adjusting a position and orientation of the second mounting bracket 261 relative to the mounting base 120 and / or adjusting a position and orientation of the second partial reflection mirror 262 relative to the second mounting bracket 261 to direct the echo beam to the predetermined position of the receiver module; and / or adjusting a position and orientation of the third mounting bracket 263 relative to the mounting base 120 and / or adjusting a position and orientation of the second receiving reflection mirror 264 relative to the third mounting bracket 263 to direct the echo beam to the predetermined position of the receiver module.

[0108] For example, the LiDAR can be aligned using a fourth alignment method. The fourth alignment method can include: the substrate 110, the emission lens module 130, and the reception lens module 140 are each fixedly mounted to the mounting base 120; the second reception reflection mirror 264 is fixedly mounted to an optical support surface of the third mounting bracket 263; the second partial reflection mirror 262 is fixedly mounted to an optical support surface of the second mounting bracket 261, and the third mounting bracket 263 is fixedly mounted to the mounting base 120. The second mounting bracket 261 is movable relative to the mounting base 120. The transmitter module can be controlled to emit the detection beam. It can be monitored whether the echo beam corresponding to the detection beam is directed to the predetermined position of the receiver module.If it is monitored that the echo beam is directed to the specified position of the receiver module, the second mounting bracket 261 can be firmly mounted to the mounting base 120. If it is monitored that the echo beam is not directed to the specified position of the receiver module, the position and orientation of the second mounting bracket 261 relative to the mounting base 120 can be adjusted until the echo beam is directed to the specified position of the receiver module.

[0109] Referring to Fig. 7, the position and orientation of the second mounting bracket 261 relative to the mounting base 120 can be adjusted using the following method: the lateral position and / or inclination angle of the second mounting bracket 261 relative to the mounting base 120 is adjusted. After adjustment, the second mounting bracket 261 can be secured to the mounting base 120 using a fastener such as adhesive, screw, dowel, or the like.

[0110] For example, a fifth alignment method may include the following: the substrate 110, the emission lens module 130, and the reception lens module 140 are each fixedly mounted on the mounting base 120; the second mounting bracket 261 and the third mounting bracket 263 are fixedly mounted on the mounting base 120; the second reception reflection mirror 264 is fixedly mounted on the optical support surface of the third mounting bracket 263, while a movable space is reserved for the second partial reflection mirror 262 relative to the optical support surface of the second mounting bracket 261. The transmitter module can be controlled to emit the detection beam. It can be monitored whether the echo beam corresponding to the detection beam is directed to the predetermined position of the receiver module.If it is monitored that the echo beam is directed to the specified position of the receiver module, the second partial reflection mirror 262 can be fixedly installed on the second mounting bracket 261. If it is monitored that the echo beam is not directed to the specified position of the receiver module, the position and orientation of the second partial reflection mirror 262 relative to the second mounting bracket 261 can be adjusted until the echo beam is directed to the specified position of the receiver module.

[0111] Referring to Fig. 7, the position and attitude of the second partial reflection mirror 262 relative to the second mounting bracket 261 can be adjusted using the following method: adjusting the position or inclination angle of the second partial reflection mirror 262 relative to the optical support surface of the second mounting bracket 261. After adjustment, the second partial reflection mirror 262 can be attached to the optical support surface of the second mounting bracket 261 by means of a fastening element such as adhesive or the like.

[0112] For example, a sixth alignment method may include the following: The substrate 110, the emission lens module 130, and the reception lens module 140 are each fixedly mounted on the mounting base 120; the second reception reflection mirror 264 is fixedly mounted on an optical support surface of the third mounting bracket 263; the second partial reflection mirror 262 is fixedly mounted on the optical support surface of the second mounting bracket 261, and the second mounting bracket 261 is fixedly mounted on the mounting base 120. The third mounting bracket 263 is movable relative to the mounting base 120. The transmitter module can be controlled to emit the detection beam. It can be monitored whether the echo beam corresponding to the detection beam is directed to the predetermined position of the receiver module.When monitoring that the echo beam is directed to the specified position of the receiver module, the third mounting bracket 263 can be firmly mounted on the mounting base 120. When monitoring that the echo beam is directed to the specified position of the receiver module, the position and orientation of the third mounting bracket 263 relative to the mounting base 120 can be adjusted until the echo beam is directed to the specified position of the receiver module.

[0113] Referring to Fig. 7, the position and orientation of the third mounting bracket 263 relative to the mounting base 120 can be adjusted using the following method: adjusting the lateral position and tilt angle at which the third mounting bracket 263 is installed on the mounting base 120. After adjustment, the third mounting bracket 263 can be secured to the mounting base 120 using a fastener such as an adhesive and screw, dowel, or the like.

[0114] For example, a seventh alignment method may include the following: the substrate 110, the emission lens module 130, and the reception lens module 140 are each fixedly mounted on the mounting base 120; the second mounting bracket 261 and the third mounting bracket 263 are fixedly mounted on the mounting base 120; the second partial reflection mirror 262 is fixedly mounted on the optical support surface of the second mounting bracket 261, while a movable space is reserved for the second reception reflection mirror 264 relative to the optical support surface of the third mounting bracket 263. The transmitter module can be controlled to emit the detection beam. It can be monitored whether the echo beam corresponding to the detection beam is directed to the predetermined position of the receiver module.If it is monitored that the echo beam is directed to the specified position of the receiver module, the second receiving reflection mirror 264 can be fixedly mounted on the third mounting bracket 263. If it is monitored that the echo beam is not directed to the specified position of the receiver module, the position and orientation of the second receiving reflection mirror 264 relative to the third mounting bracket 263 can be adjusted until the echo beam is directed to the specified position of the receiver module.

[0115] Referring to Fig.7, the position and attitude of the second receiving reflection mirror 264 relative to the third mounting bracket 263 can be adjusted using the following method: adjusting the position and inclination angle of the second receiving reflection mirror 264 relative to the optical support surface of the third mounting bracket 263. After adjustment, the second receiving reflection mirror 264 can be fixed to the optical support surface of the third mounting bracket 263 using a fixing member such as an adhesive or the like.

[0116] With the LiDAR shown in the present disclosure, the transmitter module and the receiver module can be arranged on the same substrate. A simple mounting base can integrate multiple devices such as the substrate, the receiving lens module, the emitting lens module, and the first reflection mirror module of different designs. High-precision machining of a mounting surface and an optical support surface can be realized for each of the separately designed receiving lens modules, emitting lens modules, and first reflection mirror modules, enabling stable, high-precision mounting. The separate structural design makes the alignment method more flexible, and the alignment of the transmitter and receiver can be achieved by adjusting optical lenses. Therefore, it is not necessary to adjust the transmitter module and the receiver module.It is not necessary to reserve a movable space for the substrate during LiDAR assembly, and the heat dissipation component can be directly attached to the substrate, achieving a tight fit between the substrate and the transmitter module and a tight fit between the substrate and the receiver module. Heat dissipation performance can be improved.

[0117] The terms "or" and "and / or" of the present disclosure describe an association relationship between associated objects and represent a non-exclusive inclusion. For example, each of "A and / or B" and "A or B" may include: only "A" exists, only "B" exists, and "A" and "B" both exist, where "A" and "B" may be singular or plural. For another example, each of "A, B and / or C" and "A, B, or C" may include: only "A" exists, only "B" exists, only "C" exists, "A" and "B" both exist, "A" and "C" both exist, "B" and "C" both exist, and "A", "B", and "C" all exist, where "A", "B", and "C" may be singular or plural. In addition, the symbol " / " here indicates that the associated objects before and after the character are in an "or" relationship.In the present disclosure, the term "at least one of A or B" has a meaning equivalent to "A or B" as described above. The term "at least one of A, B, or C" has a meaning equivalent to "A, B, or C" as described above.

[0118] It should be noted that the above description describes a plurality of embodiments of the present disclosure. Unless contradictory, the various optional solutions described in the respective embodiments can be combined and cross-referenced with each other, thereby obtaining a plurality of possible embodiments that can be considered embodiments disclosed in the present disclosure.

[0119] Although embodiments of the present disclosure are disclosed as described above, the present disclosure is not limited thereto. Those skilled in the art may make various changes and modifications within the spirit and scope of the present disclosure; therefore, the scope of the present disclosure should be defined by the claims. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] CN 202211608944.8

[0001]

Claims

[1] LiDAR, including: a substrate comprising a transmitter module and a receiver module arranged on the same surface of the substrate, wherein the transmitter module is designed to emit a detection beam and wherein the receiver module is designed to receive an echo beam generated after the detection beam is reflected by an object; a mounting base comprising a first optical channel and a second optical channel, the first optical channel and the second optical channel being isolated from each other; the first optical channel and the second optical channel each passing through a first end and a second end of the mounting base; the substrate being fixedly connected to the first end of the mounting base; an emission lens module arranged in the first optical channel and associated with the transmitter module, the emission lens module being configured to collimate the detection beam; a receive lens module disposed in the second optical channel and associated with the receiver module, the receive lens module being configured to shape the echo beam; a scanner module configured to change the angles of the detection beam and the echo beam incident on the scanner module; a first reflection mirror module disposed at the second end of the mounting base, wherein the first reflection mirror module is configured to change a transmission direction of the detection beam collimated by the emission lens module to deflect the detection beam toward the scanner module; and to change a transmission direction of the echo beam deflected by the scanner module to deflect the echo beam toward the reception lens module. [2] The LiDAR of claim 1, wherein the first reflection mirror module comprises: a first mounting bracket, a first partial reflection mirror and a first receiving reflection mirror, wherein: the first mounting bracket is arranged at the second end of the mounting base and comprises a hollow channel through which the echo beam passes; the first partial reflection mirror is arranged on a first side of the first mounting bracket and is configured to change the transmission direction of the detection beam collimated by the emission lens module to deflect the detection beam to the scanner module; and to transmit the echo beam to transmit the echo beam to the first reception reflection mirror; the first receiving reflection mirror is arranged on a second side of the first mounting bracket and is designed to change the transmission direction of the echo beam to deflect the echo beam to the receiving lens module; the first side and the second side are opposite sides of the first mounting bracket. [3] The LiDAR of claim 1, wherein the first reflection mirror module comprises: a second mounting bracket, a second partial reflection mirror, a third mounting bracket and a second receiving reflection mirror, wherein: the second mounting bracket is arranged at the second end of the mounting base and has a first hollow structure through which the detection signal passes; the second partial reflection mirror is arranged at the second end of the mounting base and is configured to change the transmission direction of the detection beam collimated by the emission lens module to deflect the detection beam to the scanner module; and to transmit the echo beam to transmit the echo beam to the second reception reflection mirror; the third mounting bracket is arranged at the second end of the mounting base and has a second hollow structure through which the echo beam passes; and the second receiving reflection mirror is arranged at an end of the second hollow structure remote from the substrate and is configured to change the transmission direction of the echo beam to deflect the echo beam toward the receiving lens module. [4] The LiDAR of claim 1, wherein the mounting base further comprises a third end, wherein the first optical channel and the second optical channel pass through the first end, the second end, and the third end of the mounting base simultaneously; the LiDAR further comprising: a second reflection mirror module disposed at the third end of the mounting base, wherein the second reflection mirror module is configured to change the transmission direction of the detection beam emitted by the transmitter module to deflect the detection beam toward the emission lens module; and to change the transmission direction of the echo beam formed by the reception lens module to deflect the echo beam toward the receiver module. [5] The LiDAR of claim 1, wherein the emission lens module and the reception lens module are fixedly connected to the second end of the mounting base. [6] LiDAR according to claim 5, wherein the emission lens module comprises: an emission lens associated with the transmitter module and designed to collimate the detection beam; and an emission lens tube having an axisymmetric structure configured to fix the emission lens, the emission lens tube having a first protrusion structure on an outer periphery of the emission lens tube. [7] The LiDAR of claim 6, wherein the second end of the mounting base is further provided with a first groove structure circumferentially provided on an inner wall of one end of the first optical channel, the first groove structure cooperating with the first projection structure to position the emission lens tube within the first optical channel. [8] LiDAR according to claim 5, wherein the receiving lens module comprises: a receiving lens associated with the receiver module and configured to shape the echo beam; and a receiving lens tube having an axisymmetric structure configured to fix the receiving lens, the receiving lens tube having a second protrusion structure on an outer periphery of the receiving lens tube. [9] The LiDAR of claim 8, wherein the second end of the mounting base is further provided with a second groove structure provided on an inner wall of one end of the second optical channel, the second groove structure cooperating with the second projection structure to position the receiving lens tube within the second optical channel. [10] The LiDAR of claim 1, wherein a first adjustable gap is provided between the emission lens module and a sidewall of the first optical channel; and / or a second adjustable gap is provided between the reception lens module and a sidewall of the second optical channel. [11] The LiDAR of claim 1, wherein a size of the substrate in an extending direction of the surface is larger than a cross-sectional size of the first end of the mounting base. [12] An alignment method for a LiDAR, the LiDAR comprising: a substrate including a transmitter module and a receiver module arranged on the same surface of the substrate; a mounting base having a first optical channel and a second optical channel, the first optical channel and the second optical channel being isolated from each other; an emission lens module; a reception lens module; a scanner module; and a first reflection mirror module, wherein a first adjustable gap is provided between the emission lens module and a side wall of the first optical channel; and / or a second adjustable gap is provided between the reception lens module and a side wall of the second optical channel, the alignment method comprising: a relative position between the emission lens module and the first optical channel is adjusted to direct an echo beam to a predetermined position of the receiver module; and / or a relative position of the receiving lens module and the second optical channel is adjusted to direct the echo beam to the predetermined position of the receiving module. [13] An alignment method for a LiDAR, the LiDAR comprising: a substrate including a transmitter module and a receiver module arranged on the same surface of the substrate; a mounting base having a first optical channel and a second optical channel, the first optical channel and the second optical channel being isolated from each other; an emission lens module; a scanner module; a reception lens module; and a first reflection mirror module, the first reflection mirror module comprising a second mounting bracket, a second partial reflection mirror, a third mounting bracket, and a second reception reflection mirror, the alignment method comprising: a position and orientation of the second mounting bracket relative to the mounting base and / or a position and orientation of the second partial reflection mirror relative to the second mounting bracket is adjusted to direct an echo beam to a predetermined position of the receiver module; and / or a position and orientation of the third mounting bracket relative to the mounting base and / or a position and orientation of the second receiving reflection mirror relative to the third mounting bracket is adjusted to direct the echo beam to the predetermined position of the receiver module.

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